Design of Neural Network Control System for Controlling Trajectory of Autonomous Underwater Vehicles:

[摘要] A neural network based robust control system design for the trajectory of Autonomous Underwater Vehicles (AUVs) is presented in this paper. Two types of control structure were used to control prescribed trajectories of an AUV. The vehicle was tested with random disturbances while taxiing under water. The results of the simulation showed that the proposed neural network based robust control system has superior performance in adapting to large random disturbances such as underwater flow.

[学科分类] 自动化工程

[关键词] Neural Network Control;Robust Control;Autonomous Underwater Vehicles;Trajectory Control